From ee9d60755937a4cf6ff8ebd511e4a1337f59ca8a Mon Sep 17 00:00:00 2001 From: Ugo Pattacini Date: Fri, 5 Jul 2024 11:35:36 +0200 Subject: [PATCH] Devel ergo cub sn002 (#665) Co-authored-by: Stefano Dafarra Co-authored-by: Antonio Consilvio Co-authored-by: Giulio Romualdi Co-authored-by: ergocub --- ergoCubSN002/calibrators/left_leg-calib.xml | 2 +- .../applications/ergoCubStartupV0-ami.xml | 2 +- ergoCubSN002/extra/applications/xbg.xml | 35 ++ .../ergocub002-lap/robotologyenv.yaml | 387 ++++++++++++++++++ .../contexts/yarpmanager/cluster-config.xml | 7 +- .../plotTemperatureLeftLeg.xml | 50 +++ .../plotTemperatureRightLeg.xml | 50 +++ .../plotTemperatureTorso.xml | 32 ++ .../electronics/left_leg-eb8-j0_3-eln.xml | 4 +- .../electronics/right_leg-eb6-j0_3-eln.xml | 6 +- .../mechanicals/left_leg-eb8-j0_3-mec.xml | 2 +- .../mechanicals/left_leg-eb9-j4_5-mec.xml | 2 +- .../mechanicals/right_leg-eb6-j0_3-mec.xml | 2 +- .../mechanicals/right_leg-eb7-j4_5-mec.xml | 2 +- .../motorControl/left_leg-eb8-j0_3-mc.xml | 7 + .../motorControl/left_leg-eb9-j4_5-mc.xml | 7 + .../motorControl/right_leg-eb6-j0_3-mc.xml | 7 + .../motorControl/right_leg-eb7-j4_5-mc.xml | 11 +- 18 files changed, 599 insertions(+), 16 deletions(-) create mode 100644 ergoCubSN002/extra/applications/xbg.xml create mode 100644 ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml create mode 100644 ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml create mode 100644 ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml create mode 100644 ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml index 2a9f179482..37eb72c33a 100644 --- a/ergoCubSN002/calibrators/left_leg-calib.xml +++ b/ergoCubSN002/calibrators/left_leg-calib.xml @@ -20,7 +20,7 @@ 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 109.07 110.848 81.65 7.91 -46.047 27.401 + 109.07 110.848 81.65 7.91 -46.047 25.297 0 0 0 0 0 0 90 80 0 -95 0 0 10.0 10.0 10.0 10 10 10 diff --git a/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml b/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml index 5f6fa28c2e..dc8023358e 100644 --- a/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml +++ b/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml @@ -13,7 +13,7 @@ yarprobotinterface - --config ergocub_wbd.xml + ergocub-torso diff --git a/ergoCubSN002/extra/applications/xbg.xml b/ergoCubSN002/extra/applications/xbg.xml new file mode 100644 index 0000000000..ec2e702ed4 --- /dev/null +++ b/ergoCubSN002/extra/applications/xbg.xml @@ -0,0 +1,35 @@ + + ami-xbg + + + yarprobotinterface + --config realsense2.xml + ergocub-head + + + + WalkingModule + --from dcm_walking_autonomous.ini + ergocub-torso + + + + /usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/simulation/ + python3 + demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.15 + ergocub002-lap + + + + /xbg/joints + /walking-coordinator/humanState:i + fast_tcp + + + + /xbg/joypad + /walking-coordinator/goal:i + fast_tcp + + + diff --git a/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml b/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml new file mode 100644 index 0000000000..b63673772a --- /dev/null +++ b/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml @@ -0,0 +1,387 @@ +name: robotologyenv +channels: + - + - conda-forge +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - _sysroot_linux-64_curr_repodata_hack=3=h69a702a_14 + - ace=7.1.4=h59595ed_0 + - aiohttp=3.9.3=py312h98912ed_1 + - aiosignal=1.3.1=pyhd8ed1ab_0 + - alsa-lib=1.2.11=hd590300_1 + - ampl-mp=3.1.0=h2cc385e_1006 + - aom=3.7.1=h59595ed_0 + - asio=1.29.0=h59595ed_0 + - assimp=5.4.0=h8343317_0 + - asttokens=2.4.1=pyhd8ed1ab_0 + - atk-1.0=2.38.0=hd4edc92_1 + - attr=2.5.1=h166bdaf_1 + - attrs=23.2.0=pyh71513ae_0 + - bash-completion=2.11=ha770c72_1 + - binutils=2.40=hdd6e379_0 + - binutils_impl_linux-64=2.40=hf600244_0 + - binutils_linux-64=2.40=hdade7a5_3 + - blosc=1.21.5=h0f2a231_0 + - boost=1.84.0=h8da182e_2 + - brotli=1.1.0=hd590300_1 + - brotli-bin=1.1.0=hd590300_1 + - bzip2=1.0.8=hd590300_5 + - c-ares=1.28.1=hd590300_0 + - c-compiler=1.7.0=hd590300_0 + - ca-certificates=2024.2.2=hbcca054_0 + - cached-property=1.5.2=hd8ed1ab_1 + - cached_property=1.5.2=pyha770c72_1 + - cairo=1.18.0=h3faef2a_0 + - certifi=2024.2.2=pyhd8ed1ab_0 + - cmake=3.28.3=hcfe8598_0 + - coinhsl=2023.11.17.0=hf90ab62_0 + - compilers=1.7.0=ha770c72_0 + - contourpy=1.2.1=py312h8572e83_0 + - cudatoolkit=11.8.0=h4ba93d1_13 + - cxx-compiler=1.7.0=h00ab1b0_0 + - cycler=0.12.1=pyhd8ed1ab_0 + - dav1d=1.2.1=hd590300_0 + - dbus=1.13.6=h5008d03_3 + - decorator=5.1.1=pyhd8ed1ab_0 + - double-conversion=3.3.0=h59595ed_0 + - eigen=3.4.0=h00ab1b0_0 + - exceptiongroup=1.2.0=pyhd8ed1ab_2 + - executing=2.0.1=pyhd8ed1ab_0 + - expat=2.5.0=hcb278e6_1 + - ffmpeg=6.1.1=gpl_h186bccc_100 + - flann=1.9.2=h2b5ea80_0 + - fmt=10.2.1=h00ab1b0_0 + - font-ttf-dejavu-sans-mono=2.37=hab24e00_0 + - font-ttf-inconsolata=3.000=h77eed37_0 + - font-ttf-source-code-pro=2.038=h77eed37_0 + - font-ttf-ubuntu=0.83=h77eed37_1 + - fontconfig=2.14.2=h14ed4e7_0 + - fonts-conda-ecosystem=1=0 + - fonts-conda-forge=1=0 + - fonttools=4.51.0=py312h98912ed_0 + - fortran-compiler=1.7.0=heb67821_0 + - freeglut=3.2.2=hac7e632_2 + - freetype=2.12.1=h267a509_2 + - fribidi=1.0.10=h36c2ea0_0 + - frozenlist=1.4.1=py312h98912ed_0 + - gcc=12.3.0=h95e488c_3 + - gcc_impl_linux-64=12.3.0=he2b93b0_5 + - gcc_linux-64=12.3.0=h6477408_3 + - gdk-pixbuf=2.42.10=h829c605_4 + - gettext=0.22.5=h59595ed_2 + - gettext-tools=0.22.5=h59595ed_2 + - gfortran=12.3.0=h7389182_3 + - gfortran_impl_linux-64=12.3.0=hfcedea8_5 + - gfortran_linux-64=12.3.0=h617cb40_3 + - giflib=5.2.2=hd590300_0 + - gl2ps=1.4.2=h0708190_0 + - glew=2.1.0=h9c3ff4c_2 + - glfw=3.4=hd590300_0 + - glib=2.78.1=hfc55251_0 + - glib-networking=2.80.0=h2ef3c98_0 + - glib-tools=2.78.1=hfc55251_0 + - glm=0.9.9.8=h00ab1b0_0 + - gmp=6.3.0=h59595ed_1 + - gnutls=3.7.9=hb077bed_0 + - graphite2=1.3.13=h59595ed_1003 + - graphviz=9.0.0=h78e8752_1 + - gsl=2.7=he838d99_0 + - gst-plugins-bad=1.22.6=h06bf7ac_0 + - gst-plugins-base=1.22.7=h8e1006c_0 + - gst-plugins-good=1.22.7=h16e77d8_0 + - gstreamer=1.22.7=h98fc4e7_0 + - gtk2=2.24.33=h90689f9_2 + - gts=0.7.6=h977cf35_4 + - gxx=12.3.0=h95e488c_3 + - gxx_impl_linux-64=12.3.0=he2b93b0_5 + - gxx_linux-64=12.3.0=h4a1b8e8_3 + - h5py=3.11.0=nompi_py312h1b477d7_100 + - harfbuzz=8.3.0=h3d44ed6_0 + - hdf4=4.2.15=h2a13503_7 + - hdf5=1.14.3=nompi_h4f84152_100 + - icu=73.2=h59595ed_0 + - idna=3.7=pyhd8ed1ab_0 + - ipopt=3.14.15=h04b96a2_0 + - ipython=8.22.2=pyh707e725_0 + - irrlicht=1.8.5=h2a6caf8_4 + - jack=1.9.22=h7c63dc7_2 + - jasper=4.2.3=he6dfbbe_0 + - jedi=0.19.1=pyhd8ed1ab_0 + - jsoncpp=1.9.5=h4bd325d_1 + - kernel-headers_linux-64=3.10.0=h4a8ded7_14 + - keyutils=1.6.1=h166bdaf_0 + - kiwisolver=1.4.5=py312h8572e83_1 + - krb5=1.21.2=h659d440_0 + - lame=3.100=h166bdaf_1003 + - lcms2=2.16=hb7c19ff_0 + - ld_impl_linux-64=2.40=h41732ed_0 + - lerc=4.0.0=h27087fc_0 + - libabseil=20230802.1=cxx17_h59595ed_0 + - libaec=1.1.3=h59595ed_0 + - libasprintf=0.22.5=h661eb56_2 + - libasprintf-devel=0.22.5=h661eb56_2 + - libass=0.17.1=h8fe9dca_1 + - libblas=3.9.0=22_linux64_openblas + - libboost=1.84.0=h8013b2b_2 + - libboost-devel=1.84.0=h00ab1b0_2 + - libboost-headers=1.84.0=ha770c72_2 + - libboost-python=1.84.0=py312hfb10629_2 + - libboost-python-devel=1.84.0=py312h8da182e_2 + - libbrotlicommon=1.1.0=hd590300_1 + - libbrotlidec=1.1.0=hd590300_1 + - libbrotlienc=1.1.0=hd590300_1 + - libcap=2.69=h0f662aa_0 + - libcblas=3.9.0=22_linux64_openblas + - libccd-double=2.1=h59595ed_3 + - libclang=15.0.7=default_h127d8a8_5 + - libclang13=15.0.7=default_h5d6823c_5 + - libcups=2.3.3=h4637d8d_4 + - libcurl=8.7.1=hca28451_0 + - libdb=6.2.32=h9c3ff4c_0 + - libdc1394=2.2.7=h59595ed_1 + - libdeflate=1.20=hd590300_0 + - libdrm=2.4.120=hd590300_0 + - libdrm-cos7-x86_64=2.4.97=h9b0a68f_1105 + - libedit=3.1.20191231=he28a2e2_2 + - libev=4.33=hd590300_2 + - libevent=2.1.12=hf998b51_1 + - libexpat=2.5.0=hcb278e6_1 + - libffi=3.4.2=h7f98852_5 + - libflac=1.4.3=h59595ed_0 + - libgcc-devel_linux-64=12.3.0=h8bca6fd_105 + - libgcc-ng=13.2.0=h807b86a_5 + - libgcrypt=1.10.3=hd590300_0 + - libgd=2.3.3=h119a65a_9 + - libgettextpo=0.22.5=h59595ed_2 + - libgettextpo-devel=0.22.5=h59595ed_2 + - libgfortran-ng=13.2.0=h69a702a_5 + - libgfortran5=13.2.0=ha4646dd_5 + - libglib=2.78.1=hebfc3b9_0 + - libglu=9.0.0=hac7e632_1003 + - libglvnd-cos7-x86_64=1.0.1=h9b0a68f_1105 + - libglvnd-glx-cos7-x86_64=1.0.1=h9b0a68f_1105 + - libgomp=13.2.0=h807b86a_5 + - libgpg-error=1.48=h71f35ed_0 + - libhwloc=2.9.3=default_h554bfaf_1009 + - libi2c=4.3=hcb278e6_2 + - libiconv=1.17=hd590300_2 + - libidn2=2.3.7=hd590300_0 + - libjpeg-turbo=3.0.0=hd590300_1 + - liblapack=3.9.0=22_linux64_openblas + - liblapacke=3.9.0=22_linux64_openblas + - libllvm15=15.0.7=hb3ce162_4 + - libmatio=1.5.26=h31675a7_0 + - libnetcdf=4.9.2=nompi_h9612171_113 + - libnghttp2=1.58.0=h47da74e_1 + - libnsl=2.0.1=hd590300_0 + - libode=0.16.2=h30efb56_14 + - libogg=1.3.4=h7f98852_1 + - libopenblas=0.3.27=pthreads_h413a1c8_0 + - libopencv=4.8.1=py312hed1d938_5 + - libopenvino=2023.1.0=h59595ed_2 + - libopenvino-auto-batch-plugin=2023.1.0=h59595ed_2 + - libopenvino-auto-plugin=2023.1.0=h59595ed_2 + - libopenvino-hetero-plugin=2023.1.0=h59595ed_2 + - libopenvino-intel-cpu-plugin=2023.1.0=h59595ed_2 + - libopenvino-intel-gpu-plugin=2023.1.0=h59595ed_2 + - libopenvino-ir-frontend=2023.1.0=h59595ed_2 + - libopenvino-onnx-frontend=2023.1.0=h59595ed_2 + - libopenvino-paddle-frontend=2023.1.0=h59595ed_2 + - libopenvino-pytorch-frontend=2023.1.0=h59595ed_2 + - libopenvino-tensorflow-frontend=2023.1.0=h59595ed_2 + - libopenvino-tensorflow-lite-frontend=2023.1.0=h59595ed_2 + - libopus=1.3.1=h7f98852_1 + - libpciaccess=0.18=hd590300_0 + - libpng=1.6.43=h2797004_0 + - libpq=16.2=h33b98f1_1 + - libprotobuf=4.24.4=hf27288f_0 + - libpsl=0.21.2=h3253dac_2 + - librsvg=2.56.3=he3f83f7_1 + - libsanitizer=12.3.0=h0f45ef3_5 + - libscotch=7.0.4=h91e35bf_1 + - libselinux-cos7-x86_64=2.5=h9b0a68f_1105 + - libsepol-cos7-x86_64=2.5=h9b0a68f_1105 + - libsndfile=1.2.2=hc60ed4a_1 + - libsodium=1.0.18=h36c2ea0_1 + - libsoup=3.4.4=hb337396_0 + - libspral=2024.01.18=h6aa6db2_0 + - libsqlite=3.45.2=h2797004_0 + - libssh2=1.11.0=h0841786_0 + - libstdcxx-devel_linux-64=12.3.0=h8bca6fd_105 + - libstdcxx-ng=13.2.0=h7e041cc_5 + - libsystemd0=255=h3516f8a_1 + - libtasn1=4.19.0=h166bdaf_0 + - libtheora=1.1.1=h7f98852_1005 + - libtiff=4.6.0=h1dd3fc0_3 + - libudev1=255=h3f72095_1 + - libunistring=0.9.10=h7f98852_0 + - libusb=1.0.27=h520f47e_100 + - libuuid=2.38.1=h0b41bf4_0 + - libuv=1.48.0=hd590300_0 + - libva=2.21.0=hd590300_0 + - libvorbis=1.3.7=h9c3ff4c_0 + - libvpx=1.13.1=h59595ed_0 + - libwebp=1.3.2=h658648e_1 + - libwebp-base=1.3.2=hd590300_1 + - libxcb=1.15=h0b41bf4_0 + - libxcrypt=4.4.36=hd590300_1 + - libxkbcommon=1.7.0=h662e7e4_0 + - libxml2=2.12.6=h232c23b_2 + - libxshmfence-cos7-x86_64=1.2=h9b0a68f_1105 + - libxshmfence-devel-cos7-x86_64=1.2=h9b0a68f_1105 + - libzip=1.10.1=h2629f0a_3 + - libzlib=1.2.13=hd590300_5 + - loguru=0.7.2=py312h7900ff3_1 + - lua=5.4.6=h9627803_0 + - lz4-c=1.9.4=hcb278e6_0 + - make=4.3=hd18ef5c_1 + - matplotlib=3.8.4=py312h7900ff3_0 + - matplotlib-base=3.8.4=py312he5832f3_0 + - matplotlib-inline=0.1.7=pyhd8ed1ab_0 + - mesa-khr-devel-cos7-x86_64=18.3.4=h9b0a68f_1105 + - mesa-libgl-cos7-x86_64=18.3.4=h9b0a68f_1105 + - mesa-libgl-devel-cos7-x86_64=18.3.4=h9b0a68f_1105 + - mesa-libglapi-cos7-x86_64=18.3.4=h9b0a68f_1105 + - metis=5.1.0=h59595ed_1007 + - mpg123=1.32.6=h59595ed_0 + - msgpack-python=1.0.7=py312h8572e83_0 + - multidict=6.0.5=py312h98912ed_0 + - mumps-include=5.6.2=ha770c72_4 + - mumps-seq=5.6.2=hfef103a_4 + - munkres=1.1.4=pyh9f0ad1d_0 + - mysql-common=8.0.33=hf1915f5_6 + - mysql-libs=8.0.33=hca2cd23_6 + - ncurses=6.4.20240210=h59595ed_0 + - nettle=3.9.1=h7ab15ed_0 + - ninja=1.12.0=h00ab1b0_0 + - nlohmann_json=3.11.3=h59595ed_0 + - nspr=4.35=h27087fc_0 + - nss=3.98=h1d7d5a4_0 + - numpy=1.26.4=py312heda63a1_0 + - ocl-icd=2.3.2=hd590300_1 + - ocl-icd-system=1.0.0=1 + - onnxruntime-cpp=1.17.1=h7b6976b_202_cuda + - opencv=4.8.1=py312h74ac831_5 + - openh264=2.4.0=h59595ed_0 + - openjpeg=2.5.2=h488ebb8_0 + - openssl=3.2.1=hd590300_1 + - p11-kit=0.24.1=hc5aa10d_0 + - packaging=24.0=pyhd8ed1ab_0 + - pango=1.50.14=ha41ecd1_2 + - parso=0.8.4=pyhd8ed1ab_0 + - pcl=1.14.0=h3a61c4f_1 + - pcre2=10.40=hc3806b6_0 + - pexpect=4.9.0=pyhd8ed1ab_0 + - pickleshare=0.7.5=py_1003 + - pillow=10.3.0=py312hdcec9eb_0 + - pip=24.0=pyhd8ed1ab_0 + - pixman=0.43.2=h59595ed_0 + - pkg-config=0.29.2=h36c2ea0_1008 + - ply=3.11=pyhd8ed1ab_2 + - portaudio=19.6.0=h7c63dc7_9 + - proj=9.3.1=h1d62c97_0 + - prompt-toolkit=3.0.42=pyha770c72_0 + - pthread-stubs=0.4=h36c2ea0_1001 + - ptyprocess=0.7.0=pyhd3deb0d_0 + - pugixml=1.14=h59595ed_0 + - pulseaudio-client=16.1=hb77b528_5 + - pure_eval=0.2.2=pyhd8ed1ab_0 + - py-opencv=4.8.1=py312h0af958d_5 + - pybind11=2.12.0=py312h8572e83_0 + - pybind11-global=2.12.0=py312h8572e83_0 + - pygments=2.17.2=pyhd8ed1ab_0 + - pyparsing=3.1.2=pyhd8ed1ab_0 + - pyqt=5.15.9=py312h949fe66_5 + - pyqt5-sip=12.12.2=py312h30efb56_5 + - pyqtwebengine=5.15.9=py312hbd9a932_5 + - python=3.12.2=hab00c5b_0_cpython + - python-dateutil=2.9.0=pyhd8ed1ab_0 + - python_abi=3.12=4_cp312 + - pyyaml=6.0.1=py312h98912ed_1 + - pyzmq=26.0.0=py312h886d080_0 + - qhull=2020.2=h4bd325d_2 + - qt-main=5.15.8=h82b777d_17 + - qt-webengine=5.15.8=h75ea521_4 + - qtpy=2.4.1=pyhd8ed1ab_0 + - readline=8.2=h8228510_1 + - rhash=1.4.4=hd590300_0 + - scotch=7.0.4=h23d43cc_1 + - sdl=1.2.68=h293081c_0 + - sdl2=2.28.5=h77f46ba_0 + - setuptools=69.5.1=pyhd8ed1ab_0 + - sip=6.7.12=py312h30efb56_0 + - six=1.16.0=pyh6c4a22f_0 + - snappy=1.1.10=hdb0a2a9_1 + - soxr=0.1.3=h0b41bf4_3 + - spdlog=1.12.0=hd2e6256_2 + - sqlite=3.45.2=h2c6b66d_0 + - stack_data=0.6.2=pyhd8ed1ab_0 + - svt-av1=1.8.0=h59595ed_0 + - swig=4.1.0=h5d7ef5f_4 + - sysroot_linux-64=2.17=h4a8ded7_14 + - tbb=2021.11.0=h00ab1b0_1 + - tbb-devel=2021.11.0=h5ccd973_1 + - tinyxml=2.6.2=h4bd325d_2 + - tinyxml2=10.0.0=h59595ed_0 + - tk=8.6.13=noxft_h4845f30_101 + - toml=0.10.2=pyhd8ed1ab_0 + - tomli=2.0.1=pyhd8ed1ab_0 + - tomlplusplus=3.3.0=hcb278e6_0 + - tornado=6.4=py312h98912ed_0 + - traitlets=5.14.2=pyhd8ed1ab_0 + - typing_extensions=4.11.0=pyha770c72_0 + - tzdata=2024a=h0c530f3_0 + - u-msgpack-python=2.8.0=pyhd8ed1ab_0 + - unixodbc=2.3.12=h661eb56_0 + - utfcpp=4.0.5=ha770c72_0 + - vtk=9.2.6=qt_py312h1234567_220 + - vtk-base=9.2.6=qt_py312h1234567_220 + - vtk-io-ffmpeg=9.2.6=qt_py312h1234567_220 + - wayland=1.22.0=h8c25dac_1 + - wcwidth=0.2.13=pyhd8ed1ab_0 + - wheel=0.43.0=pyhd8ed1ab_1 + - wslink=2.0.1=pyhd8ed1ab_0 + - x264=1!164.3095=h166bdaf_2 + - x265=3.5=h924138e_3 + - xcb-util=0.4.0=hd590300_1 + - xcb-util-image=0.4.0=h8ee46fc_1 + - xcb-util-keysyms=0.4.0=h8ee46fc_1 + - xcb-util-renderutil=0.3.9=hd590300_1 + - xcb-util-wm=0.4.1=h8ee46fc_1 + - xkeyboard-config=2.41=hd590300_0 + - xorg-compositeproto=0.4.2=h7f98852_1001 + - xorg-damageproto=1.2.1=h7f98852_1002 + - xorg-fixesproto=5.0=h7f98852_1002 + - xorg-inputproto=2.3.2=h7f98852_1002 + - xorg-kbproto=1.0.7=h7f98852_1002 + - xorg-libice=1.1.1=hd590300_0 + - xorg-libsm=1.2.4=h7391055_0 + - xorg-libx11=1.8.9=h8ee46fc_0 + - xorg-libxau=1.0.11=hd590300_0 + - xorg-libxcomposite=0.4.6=h0b41bf4_1 + - xorg-libxdamage=1.1.5=h7f98852_1 + - xorg-libxdmcp=1.1.3=h7f98852_0 + - xorg-libxext=1.3.4=h0b41bf4_2 + - xorg-libxfixes=5.0.3=h7f98852_1004 + - xorg-libxi=1.7.10=h7f98852_0 + - xorg-libxinerama=1.1.5=h27087fc_0 + - xorg-libxrandr=1.5.2=h7f98852_1 + - xorg-libxrender=0.9.11=hd590300_0 + - xorg-libxt=1.3.0=hd590300_1 + - xorg-libxtst=1.2.3=h7f98852_1002 + - xorg-libxxf86vm=1.1.5=h0b41bf4_0 + - xorg-randrproto=1.5.0=h7f98852_1001 + - xorg-recordproto=1.14.2=h7f98852_1002 + - xorg-renderproto=0.11.1=h7f98852_1002 + - xorg-util-macros=1.19.3=h7f98852_0 + - xorg-xextproto=7.3.0=h0b41bf4_1003 + - xorg-xf86vidmodeproto=2.3.1=h7f98852_1002 + - xorg-xproto=7.0.31=h7f98852_1007 + - xz=5.2.6=h166bdaf_0 + - yaml=0.2.5=h7f98852_2 + - yarl=1.9.4=py312h98912ed_0 + - zeromq=4.3.5=h59595ed_1 + - zlib=1.2.13=hd590300_5 + - zstd=1.5.5=hfc55251_0 +prefix: /home/ergocub/mambaforge/envs/robotologyenv diff --git a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml index 0690819a1d..b18529e401 100644 --- a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml +++ b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml @@ -5,10 +5,11 @@ - ergocub002-lap - ergocub-torso - ergocub-head + ergocub002-lap + ergocub-torso + ergocub-head icub-console-gui icub-virtualizer + ally diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml new file mode 100644 index 0000000000..50852952ef --- /dev/null +++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml new file mode 100644 index 0000000000..642fc3861f --- /dev/null +++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml new file mode 100644 index 0000000000..efbb76e792 --- /dev/null +++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml @@ -0,0 +1,32 @@ + + + + + + + + + + diff --git a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml index 18217f74e1..413a34561e 100644 --- a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml +++ b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml @@ -20,8 +20,8 @@ 1000 300 - 350 - 350 + 500 + 200 1 diff --git a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml index 88f6bc83af..55b61fd150 100644 --- a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml +++ b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml @@ -20,9 +20,9 @@ 1000 300 - 350 - 350 - 1 + 500 + 200 + 1 diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml index b283aab370..2af77cfb54 100644 --- a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml @@ -29,7 +29,7 @@ 0 0 0 0 0 0 0 0 0 0 0 0 - PT100 PT100 PT100 PT100 + PT100 PT100 PT100 PT100 1 1 1 1 1 1 1 1 0 0 0 0 diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml index 2bc7e873a5..f43701d2e1 100644 --- a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml @@ -30,7 +30,7 @@ 0 0 0 0 0 0 - PT100 PT100 + PT100 PT100 1 1 1 1 0 0 diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml index 6915b57823..f56a10e3b9 100644 --- a/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml @@ -32,7 +32,7 @@ 0 0 0 0 0 0 0 0 0 0 0 0 - PT100 PT100 PT100 PT100 + PT100 PT100 PT100 PT100 1 1 1 1 1 1 1 1 0 0 0 0 diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml index 756d910352..6fea46bad2 100644 --- a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml @@ -28,7 +28,7 @@ 0 0 0 0 0 0 - PT100 PT100 + PT100 PT100 1 1 1 1 0 0 diff --git a/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml b/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml index 2fc92c405a..7941032a03 100644 --- a/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml +++ b/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml @@ -19,6 +19,13 @@ 20000 20000 10000 15000 30000 30000 15000 20000 16000 16000 18000 16000 + + 110 110 110 110 90 90 90 90 diff --git a/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml b/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml index 4ab01c891c..e849e38941 100644 --- a/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml +++ b/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml @@ -18,6 +18,13 @@ 15000 15000 30000 30000 16000 16000 + + 110 110 90 90 diff --git a/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml b/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml index 966f6f016b..66cff20a40 100644 --- a/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml +++ b/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml @@ -19,6 +19,13 @@ 20000 20000 10000 15000 30000 30000 15000 20000 16000 16000 18000 16000 + + 110 110 110 110 90 90 90 90 diff --git a/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml b/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml index 2876544479..a58012a358 100644 --- a/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml +++ b/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml @@ -8,8 +8,8 @@ - - + + 43 23 -43 -23 @@ -18,6 +18,13 @@ 15000 15000 30000 30000 16000 16000 + + 110 110 90 90